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Title: Design of a single-material complex structure anthropomorphic robotic hand
Authors: Tian, Li
Zheng, Jianmin
Magnenat Thalmann, Nadia
Li, Hanhui
Wang, Qifa
Tao, Jialin
Cai, Yiyu
Keywords: Engineering::Mechanical engineering::Robots
Issue Date: 2021
Source: Tian, L., Zheng, J., Magnenat Thalmann, N., Li, H., Wang, Q., Tao, J. & Cai, Y. (2021). Design of a single-material complex structure anthropomorphic robotic hand. Micromachines, 12(9), 1124-.
Journal: Micromachines 
Abstract: In the field of robotic hand design, soft body and anthropomorphic design are two trends with a promising future. Designing soft body anthropomorphic robotic hands with human-like grasping ability, but with a simple and reliable structure, is a challenge that still has not been not fully solved. In this paper, we present an anatomically correct robotic hand 3D model that aims to realize the human hand's functionality using a single type of 3D-printable material. Our robotic hand 3D model is combined with bones, ligaments, tendons, pulley systems, and tissue. We also describe the fabrication method to rapidly produce our robotic hand in 3D printing, wherein all parts are made by elastic 50 A (shore durometer) resin. In the experimental section, we show that our robotic hand has a similar motion range to a human hand with substantial grasping strength and compare it with the latest other designs of anthropomorphic robotic hands. Our new design greatly reduces the fabrication cost and assembly time. Compared with other robotic hand designs, we think our robotic hand may induce a new approach to the design and production of robotic hands as well as other related mechanical structures.
ISSN: 2072-666X
DOI: 10.3390/mi12091124
Research Centres: Institute for Media Innovation (IMI) 
Rights: © 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https:// 4.0/).
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:IMI Journal Articles

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